Free vibration analysis of a robotic fish based on a continuous and non-uniform flexible backbone with distributed masses

Coral Cuellar, William Hernan and Rossi, Claudio and Saltaren Pazmiño, Roque Jacinto and Curet, Oscar M. and Barrientos Cruz, Antonio (2015). Free vibration analysis of a robotic fish based on a continuous and non-uniform flexible backbone with distributed masses. "The European Physical Journal - Special Topics", v. 224 (n. 17); pp. 3379-3392. ISSN 1951-6355. https://doi.org/10.1140/epjst/e2015-50021-3.

Description

Title: Free vibration analysis of a robotic fish based on a continuous and non-uniform flexible backbone with distributed masses
Author/s:
  • Coral Cuellar, William Hernan
  • Rossi, Claudio
  • Saltaren Pazmiño, Roque Jacinto
  • Curet, Oscar M.
  • Barrientos Cruz, Antonio
Item Type: Article
Título de Revista/Publicación: The European Physical Journal - Special Topics
Date: December 2015
ISSN: 1951-6355
Volume: 224
Subjects:
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper presents a differential quadrature element method for free transverse vibration of a robotic-fish based on a continuous and non-uniform flexible backbone with distributed masses (represented by ribs) based in the theory of a Timoshenko cantilever beam. The effects of the masses (Number, Magnitud and position) on the value of natural frequencies are investigated. Governing equations, compatibility and boundary conditions are formulated according to the Differential Quadrature rules. The compatibility conditions at the position of each distributed mass are assumed as the continuity in the vertical displacement, rotation and bending moment and discontinuity in the transverse force due to acceleration of the distributed mass. The convergence, efficiency and accuracy are compared to other analytical solutions proposed in the literature. Moreover, the proposed method has been validate against the physical prototype of a flexible fish backbone. The main advantages of this method, compared to the exact solutions available in the literature are twofold: first, smaller time-cost and second, it allows analysing the free vibration in beams whose section is an arbitrary function, which is normally difficult or even impossible with analytical other methods.

More information

Item ID: 35719
DC Identifier: http://oa.upm.es/35719/
OAI Identifier: oai:oa.upm.es:35719
DOI: 10.1140/epjst/e2015-50021-3
Official URL: https://link.springer.com/article/10.1140/epjst/e2015-50021-3
Deposited by: Memoria Investigacion
Deposited on: 01 Apr 2017 08:15
Last Modified: 01 Apr 2017 08:15
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